Warp Mesh

1#!/usr/bin/env python3
2import cv2
3import depthai as dai
4import numpy as np
5
6# Create pipeline
7pipeline = dai.Pipeline()
8
9camRgb = pipeline.create(dai.node.ColorCamera)
10camRgb.setPreviewSize(496, 496)
11camRgb.setInterleaved(False)
12maxFrameSize = camRgb.getPreviewWidth() * camRgb.getPreviewHeight() * 3
13
14# Warp preview frame 1
15warp1 = pipeline.create(dai.node.Warp)
16# Create a custom warp mesh
17tl = dai.Point2f(20, 20)
18tr = dai.Point2f(460, 20)
19ml = dai.Point2f(100, 250)
20mr = dai.Point2f(400, 250)
21bl = dai.Point2f(20, 460)
22br = dai.Point2f(460, 460)
23warp1.setWarpMesh([tl,tr,ml,mr,bl,br], 2, 3)
24WARP1_OUTPUT_FRAME_SIZE = (992,500)
25warp1.setOutputSize(WARP1_OUTPUT_FRAME_SIZE)
26warp1.setMaxOutputFrameSize(WARP1_OUTPUT_FRAME_SIZE[0] * WARP1_OUTPUT_FRAME_SIZE[1] * 3)
27warp1.setHwIds([1])
28warp1.setInterpolation(dai.Interpolation.NEAREST_NEIGHBOR)
29
30camRgb.preview.link(warp1.inputImage)
31xout1 = pipeline.create(dai.node.XLinkOut)
32xout1.setStreamName('out1')
33warp1.out.link(xout1.input)
34
35# Warp preview frame 2
36warp2 = pipeline.create(dai.node.Warp)
37# Create a custom warp mesh
38mesh2 = [
39    (20, 20), (250, 100), (460, 20),
40    (100, 250), (250, 250), (400, 250),
41    (20, 480), (250, 400), (460,480)
42]
43warp2.setWarpMesh(mesh2, 3, 3)
44warp2.setMaxOutputFrameSize(maxFrameSize)
45warp1.setHwIds([2])
46warp2.setInterpolation(dai.Interpolation.BICUBIC)
47
48camRgb.preview.link(warp2.inputImage)
49xout2 = pipeline.create(dai.node.XLinkOut)
50xout2.setStreamName('out2')
51warp2.out.link(xout2.input)
52
53# Connect to device and start pipeline
54with dai.Device(pipeline) as device:
55    # Output queue will be used to get the rgb frames from the output defined above
56    q1 = device.getOutputQueue(name="out1", maxSize=8, blocking=False)
57    q2 = device.getOutputQueue(name="out2", maxSize=8, blocking=False)
58
59    while True:
60        in1 = q1.get()
61        if in1 is not None:
62            cv2.imshow("Warped preview 1", in1.getCvFrame())
63        in2 = q2.get()
64        if in2 is not None:
65            cv2.imshow("Warped preview 2", in2.getCvFrame())
66
67        if cv2.waitKey(1) == ord('q'):
68            break

1#include <iostream>
2
3// Inludes common necessary includes for development using depthai library
4#include "depthai/depthai.hpp"
5
6int main() {
7    using namespace std;
8
9    // Create pipeline
10    dai::Pipeline pipeline;
11
12    auto camRgb = pipeline.create<dai::node::ColorCamera>();
13    camRgb->setPreviewSize(496, 496);
14    camRgb->setInterleaved(false);
15    auto maxFrameSize = camRgb->getPreviewWidth() * camRgb->getPreviewHeight() * 3;
16
17    // Warp preview frame 1
18    auto warp1 = pipeline.create<dai::node::Warp>();
19    // Create a custom warp mesh
20    dai::Point2f tl(20, 20);
21    dai::Point2f tr(460, 20);
22    dai::Point2f ml(100, 250);
23    dai::Point2f mr(400, 250);
24    dai::Point2f bl(20, 460);
25    dai::Point2f br(460, 460);
26    warp1->setWarpMesh({tl, tr, ml, mr, bl, br}, 2, 3);
27    constexpr std::tuple<int, int> WARP1_OUTPUT_FRAME_SIZE = {992, 500};
28    warp1->setOutputSize(WARP1_OUTPUT_FRAME_SIZE);
29    warp1->setMaxOutputFrameSize(std::get<0>(WARP1_OUTPUT_FRAME_SIZE) * std::get<1>(WARP1_OUTPUT_FRAME_SIZE) * 3);
30    warp1->setInterpolation(dai::Interpolation::NEAREST_NEIGHBOR);
31    warp1->setHwIds({1});
32
33    camRgb->preview.link(warp1->inputImage);
34    auto xout1 = pipeline.create<dai::node::XLinkOut>();
35    xout1->setStreamName("out1");
36    warp1->out.link(xout1->input);
37
38    // Warp preview frame 2
39    auto warp2 = pipeline.create<dai::node::Warp>();
40    // Create a custom warp mesh
41    // clang-format off
42    std::vector<dai::Point2f> mesh2 = {
43        {20, 20}, {250, 100}, {460, 20},
44        {100,250}, {250, 250}, {400, 250},
45        {20, 480}, {250,400}, {460,480}
46    };
47    // clang-format on
48    warp2->setWarpMesh(mesh2, 3, 3);
49    warp2->setMaxOutputFrameSize(maxFrameSize);
50    warp2->setInterpolation(dai::Interpolation::BICUBIC);
51    warp2->setHwIds({2});
52
53    camRgb->preview.link(warp2->inputImage);
54    auto xout2 = pipeline.create<dai::node::XLinkOut>();
55    xout2->setStreamName("out2");
56    warp2->out.link(xout2->input);
57
58    dai::Device device(pipeline);
59    auto q1 = device.getOutputQueue("out1", 8, false);
60    auto q2 = device.getOutputQueue("out2", 8, false);
61    while(true) {
62        auto in1 = q1->get<dai::ImgFrame>();
63        if(in1) {
64            cv::imshow("Warped preview 1", in1->getCvFrame());
65        }
66        auto in2 = q2->get<dai::ImgFrame>();
67        if(in2) {
68            cv::imshow("Warped preview 2", in2->getCvFrame());
69        }
70        int key = cv::waitKey(1);
71        if(key == 'q' || key == 'Q') return 0;
72    }
73    return 0;
74}